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检索条件"主题词=Robotics and automation"

共 11731 条记录，以下是111-120 订阅

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Flock-Formation Control of Multi-Agent Systems using Imperfect Relative Distance Measurements

Flock-Formation Control of Multi-Agent Systems using Imperfe...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Andreas Brandstätter Scott A. Smolka Scott D. Stoller Ashish Tiwari Radu Grosu CPS Technische Universität Wien (TU Wien) Austria Department of Computer Science Stony Brook University USA Microsoft USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

We present distributed distance-based control (DDC), a novel approach for controlling a multi-agent system, such that it achieves a desired formation, in a resource-constrained setting. Our controller is fully distributed and only requires local state-estimation and scalar measurements of inter-agent distances. It does not require an external localization system or inter-agent exchange of state information. Our approach uses spatial-predictive control (SPC), to optimize a cost function given strictly in terms of inter-agent distances and the distance to the target location. In DDC, each agent continuously learns and updates a very abstract model of the actual system, in the form of a dictionary of three independent key-value pairs $(\Delta \vec s,\Delta d)$, where ∆d is the partial derivative of the distance measurements along a spatial direction $\Delta \vec s$. This is sufficient for an agent to choose the best next action. We validate our approach by using DDC to control a collection of Crazyflie drones to achieve formation flight and reach a target while maintaining flock formation.

关键词： Location awareness Dictionaries Control systems Distance measurement Stability analysis robotics and automation Physics

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Structural Design/Manufacturing and Cavitation Efficiency Calculation of the Bio-Inspired Snapping-Claw Apparatus

Structural Design/Manufacturing and Cavitation Efficiency Ca...

引用

International Conference on robotics and automation Sciences (ICRAS)

作者： Hang Yin School of Energy and Environment Southeast University Nan Jing China

ISBN: (数字)9798350352504

ISBN: (纸本)9798350352511

The snapping shrimp's unique claw structure enables it to produce high-energy cavitation bubbles instantaneously during hunting, inspiring the development of a high-efficiency cavitation generator. This paper simplifies the structure of the shrimp's claw to design a new bionic snapping-claw apparatus, and uses a torsion spring as its driving mechanism. The proper spring was selected by solving the relevant established kinetic equations, and the bionic snapping-claw apparatus was manufactured using a five-axis high-speed processing center. Additionally, the principles of energy conservation and equivalent thought were applied to calculate the cavitation efficiency of the bionic apparatus, revealing an impressive efficiency of 25.6%, outperforming most existing cavitation generating devices.

关键词： Energy conservation Machining Mathematical models Generators Kinetic theory Springs robotics and automation

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AI-based Lower Upper Bound Assessing Framework for Predicting Mechanical Properties of Hot-rolled Seamless Steel Pipe

AI-based Lower Upper Bound Assessing Framework for Predictin...

引用

Advanced Information, Mechanical Engineering, robotics and automation (AIMERA), IEEE International Conference on

作者： Jingdong Li Xiaochen Wang Quan Yang Institute of Engineering Technology University of Science and Technology Beijing Beijing China

ISBN: (数字)9798350343335

ISBN: (纸本)9798350343342

Mechanical properties are one of the most critical indicators of hot-rolled seamless steel pipe. Seamless steel pipe served in harsh working environments for a long time, putting strict requirements on product quality and mechanical properties. Due to the "data barrier" between each production process's detection and control systems, the process data is impossible to use in predicting and improving product quality. To overcome the above difficulties, this research developed an industrial big data platform to realize a single steel pipe's data interconnection in the hot rolling line. The lower upper bound assesses framework of mechanical properties was established based on quantile regression long short-term memory networks (QRLSTM) model to meet the customer's requirements for the mechanical properties interval of each finished steel pipe. The proposed framework can completely replace manual sampling and inspection at industrial sites, improve production efficiency, and reduce production costs.

关键词： Upper bound Process control Production Manuals Mechanical factors Product design Quality assessment Steel robotics and automation Mechanical engineering

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Improving image recognition performance using a hexagonal pixel arrangement

Improving image recognition performance using a hexagonal pi...

引用

International Conference on robotics and automation Engineering (ICRAE)

作者： Natsuki Ohara Kiezo Miyahara Graduate School of Science and Engineering Kwansei Gakuin University Hyogo Japan

ISBN: (数字)9798331518301

ISBN: (纸本)9798331518318

The ultimate goal of this research is to provide a high-precision and high-speed image processing system to society. To achieve this goal, this paper aims to overcome the challenges that were previously unavoidable (such as the ambiguity in the definition of pixel interconnectivity) by reconsidering the structure of pixel arrangements, improving both the accuracy and speed of image processing. Specifically, this paper involves replacing the widely used square pixel arrangement with a hexagonal (honeycomb) structure and establishing a logical framework that allows for essential image processing operations, such as convolution performed on the honeycomb structure. Based on the analysis results of the general object recognition algorithm, this paper proposes a system architecture and formulates convolution operations, including stride and padding, necessary for constructing the proposed system. The formulation utilized the 3-axis discrete coordinate system "HCP (HoneyComb by Projection)." A comparison with conventional systems will then demonstrate the advantages of the proposed framework.

关键词： Image recognition Accuracy Convolution Systems architecture Honeycomb structures Object recognition robotics and automation

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Phasic Diversity Optimization for Population-Based Reinforcement Learning

Phasic Diversity Optimization for Population-Based Reinforce...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Jingcheng Jiang Haiyin Piao Yu Fu Yihang Hao Chuanlu Jiang Ziqi Wei Xin Yang Key Laboratory of Social Computing and Cognitive Intelligence Dalian University of Technology Dalian China School of Electronics and Information Northwestern Polytechnical University Xi’an China Yangzhou Collaborative Innovation Research Institute Co. Ltd Yangzhou China Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Reviewing the previous work of diversity Reinforcement Learning, diversity is often obtained via an augmented loss function, which requires a balance between reward and diversity. Generally, diversity optimization algorithms use Multi-armed Bandits algorithms to select the coefficient in the pre-defined space. However, the dynamic distribution of reward signals for MABs or the conflict between quality and diversity limits the performance of these methods. We introduce the Phasic Diversity Optimization (PDO) algorithm, a Population-Based Training framework that separates reward and diversity training into distinct phases instead of optimizing a multi-objective function. In the auxiliary phase, agents with poor performance diversified via determinants will not replace the better agents in the archive. The decoupling of reward and diversity allows us to use an aggressive diversity optimization in the auxiliary phase without performance degradation. Furthermore, we construct a dogfight scenario for aerial agents to demonstrate the practicality of the PDO algorithm. We introduce two implementations of PDO archive and conduct tests in the newly proposed adversarial dogfight and MuJoCo simulations. The results show that our proposed algorithm achieves better performance than baselines.

关键词： Training Degradation DVD Heuristic algorithms Reinforcement learning Task analysis robotics and automation

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Simulation and Experimental Validation of an Autonomous Perching and Takeoff Method for a Multirotor UAV on Vertical Surfaces using a Suction Cup

Simulation and Experimental Validation of an Autonomous Perc...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Bruno Chapdelaine Mathis Celce Charles Vidal Lionel Birglen Bruno Monsarrat NRC’s Aerospace Research Centre Montréal CAN Polytechnique Montréal Montréal CAN

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper details the simulation and experimental validation of an autonomous perching and take-off method for a multirotor unmanned aerial vehicle (UAV) using a suction cup perching mechanism on vertical surfaces. The suction cup interaction with different surface types is characterized with experimental tests to accurately model the perching manoeuvre. The resulting model is used to develop a realistic hardware-in-the-loop (HIL) simulation of the perching and take-off manoeuvre of the UAV in Gazebo. A control method is developed to automate the perching and take-off manoeuvre. The method is tested in simulation and is experimentally validated with flight tests. Comparisons between simulation and experimental data demonstrate that the simulation is accurate and can be used to continue the development of autonomous perching methods.

关键词： Laser radar Accuracy Hardware-in-the-loop simulation Autonomous aerial vehicles Aerodynamics robotics and automation

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MagFloor: a Universal Magnetic Levitation Platform for Flexible Manufacturing

MagFloor: a Universal Magnetic Levitation Platform for Flexi...

引用

IEEE International Conference on Mechatronics, robotics and automation (ICMRA)

作者： Yang Wang Mir Behrad Khamesee Mechanical and Mechatronics Engineering University of Waterloo Waterloo Canada

ISBN: (数字)9798350352474

ISBN: (纸本)9798350352481

The magnetic levitation (maglev) technology supports contactless and frictionless operations using permanent-magnet movers and coil stators. The movers can be constructed using Halbach arrays (HAs) or disc magnets (DMs). The MagFloor platform equipped with a square coil array is developed to actuate both types of movers compatibly, covering a 1.8m-by-2.4m horizontal working area. The Lorentz force and torque (wrench) models between the magnet movers and copper-wired square coils are established using data-driven approaches. The implementation time cost of the wrench models for the HA and DM movers on the programmable logic controller (PLC) is 2.3 μs and 4.1 μs per mover-coil-pair, respectively. The mover poses are measured using an optical sensing system and controlled at 1 kHz. The HA mover has unlimited yaw angle rotations and a maximum 7.5mm air gap. The maximum air gap and roll and pitch range of the DM mover are 65mm and ±45°, respectively. The horizontal motion range for both movers is only limited by the platform geometry. The HA and DM movers verified on a small-scale platform will be studied on the proposed maglev platform (MLP). The horizontal operating range of the MLP is expandable using a modular design to a large scale for future research on flexible manufacturing applications.

关键词： Coils Torque Air gaps Programmable logic devices Stators Real-time systems Manufacturing Magnets robotics and automation Magnetic levitation

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Intelligent Mode-switching Framework for Teleoperation

Intelligent Mode-switching Framework for Teleoperation

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Burak Kizilkaya Changyang She Guodong Zhao Muhammad Ali Imran School of Engineering University of Glasgow Glasgow U.K. School of Electrical and Information Engineering The University of Sydney Sydney NSW Australia

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Teleoperation can be very difficult due to limited perception, high communication latency, and limited degrees of freedom (DoFs) at the operator side. Autonomous teleoperation is proposed to overcome this difficulty by predicting user intentions and performing some parts of the task autonomously to decrease the demand on the operator and increase the task completion rate. However, decision-making for mode-switching is generally assumed to be done by the operator, which brings an extra DoF to be controlled by the operator and introduces extra mental demand. On the other hand, the communication perspective is not investigated in the current literature, although communication imperfections and resource limitations are the main bottlenecks for teleoperation. In this study, we propose an intelligent mode-switching framework by jointly considering mode-switching and communication systems. User intention recognition is done at the operator side. Based on user intention recognition, a deep reinforcement learning (DRL) agent is trained and deployed at the operator side to seamlessly switch between autonomous and teleoperation modes. A real-world data set is collected from our teleoperation testbed to train both user intention recognition and DRL algorithms. Our results show that the proposed framework can achieve up to 50% communication load reduction with improved task completion probability.

关键词： Switching systems Decision making Switches Deep reinforcement learning Task analysis robotics and automation

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Towards Efficient Motion Planning for UAVs: Lazy A* Search with Motion Primitives

Towards Efficient Motion Planning for UAVs: Lazy A* Search w...

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IEEE International Conference on Mechatronics, robotics and automation (ICMRA)

作者： Wentao Wang Yi Shen Kaiyang Chen Kaifan Lu Department of Computer Science University of Southern California LA USA Robotics Department University of Michigan MI USA Department of Electrical and Computer Engineering University of Illinois Urbana-Champaign Champaign USA

ISBN: (数字)9798350352474

ISBN: (纸本)9798350352481

Search-based motion planning algorithms have been widely utilized for unmanned aerial vehicles (UAVs). However, deploying these algorithms on real UAVs faces challenges due to limited onboard computational resources. The algorithms struggle to find solutions in high-dimensional search spaces and require considerable time to ensure that the trajectories are dynamically feasible. This paper incorporates the lazy search concept into search-based planning algorithms to address the critical issue of real-time planning for collision-free and dynamically feasible trajectories on UAVs. We demonstrate that the lazy search motion planning algorithm can efficiently find optimal trajectories and significantly improve computational efficiency.

关键词： Mechatronics Trajectory planning Heuristic algorithms Autonomous aerial vehicles Real-time systems Planning Trajectory Computational efficiency robotics and automation Faces

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Trinary Relationship Interaction Detection

Trinary Relationship Interaction Detection

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IEEE International Conference on Mechatronics, robotics and automation (ICMRA)

作者： Fangqun Gao YunTao Wu Yanduo Zhang Tao Lu Pan Tang Liwei Wang Jifeng Han Wanghui Wu Hubei Key Laboratory of Intelligent Robot School of Computer Science and Engineering Wuhan Institute of Technology Wuhan China Hubei University of Arts and Science Xiangyang China State Key Laboratory of Power Grid Environmental Protection China Electric Power Research Institute Wuhan China Hubei Key Laboratory of Intelligent Robot Wuhan Institute of Technology Wuhan China

ISBN: (数字)9798350352474

ISBN: (纸本)9798350352481

In various specialized operational scenarios, particularly those involving tool usage, the capacity to detect relationships between entities is crucial for understanding complex interactions. Traditional methods, which typically focus on unary or binary relationship detections, often fall short in capturing the subtleties present in such environments. This paper introduces the HTOI (Human Tool Object Interaction) model, a novel and pioneering approach to trinary relationship detection that addresses these limitations. The HTOI model has been designed to excel in complex interaction scenarios, including those characterized by the use of tools, as evidenced by its exceptional performance on our TData dataset. This dataset specifically highlights the nuanced actions of electric utility workers during tool-assisted operations, underscoring the model’s ability to detect intricate interactions with higher accuracy and reliability compared to existing HOI (Human Object Interaction) techniques. Our study aims to showcase the HTOI model’s significant advancement in the field of relationship detection, offering a valuable tool for analyzing and interpreting complex operational interactions involving tools.

关键词： Analytical models Mechatronics Accuracy Power industry Reliability robotics and automation

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